
#include <math.h>
#include "navigation_msg/odom.h"
#include "ros/ros.h"
#include "std_msgs/Float64MultiArray.h"


namespace small_car_map {


  class small_car_map{

      public :

       small_car_map();
       ~small_car_map();
       //void grid_transf_imu(int LeftSpeed, int RightSpeed,float angle);
       void grid_transf_slam(int distance ,float angle);
       void map_run();
       void imu_map_display();
       void OdomDataCallback(const  navigation_msg::odom& odom_message);
       void ImuDataCallback(const std_msgs::Float64MultiArrayConstPtr& imu_message);

      private:

        ros::NodeHandle odom_cab;
        float imu_x;
        float imu_y;
        float imu_angle;
        float slam_x;
        float slam_y;
        float slam_angle;
        float  gps_x;
        float  gps_y;
        smallcardb	my_smallcar_db;
        int time_count;
        bool rev_imu;
        ros::Publisher pub_odom_data;
  };


}
